several bugfixes

main.py

@@ -213,7 +213,7 @@ def set_speed(self, speed):
         :param speed: The speed throughout the turn
         :return: modifies acceleration
         '''
-        self.current_params.max_speed = speed
+        self.current_params.speed = speed
         acceleration = self.path.get_turn_acceleration(self.current_profile, self.current_params)
         self.set_safely(self.ui.accelerationSpinBox, int(acceleration))
         self.re_calculate()
@@ -255,7 +255,7 @@ def set_acceleration(self, acceleration):
         self.current_params.acceleration = acceleration
         radius = self.ui.radiusSpinBox.value()
         speed = math.sqrt(acceleration * radius)
-        self.current_params.max_speed = speed
+        self.current_params.speed = speed
         self.set_safely(self.ui.turnSpeedSpinBox, int(speed))
         self.re_calculate()
 
@@ -339,8 +339,8 @@ def show_summary(self):
         self.ui.textEdit.append(f" Wheel Accel'n: {wheel_acc:5.0f} mm/s/s")
         self.ui.textEdit.append(f"     Max alpha: {max_alpha:5.0f} deg/s/s")
         self.ui.textEdit.append(f"     Max omega: {self.path.get_max_omega():5.0f} deg/s")
-        self.ui.textEdit.append(f"        Exit X: {end_x:5.1f} mm")
-        self.ui.textEdit.append(f"        Exit Y: {end_y:5.1f} mm")
+        self.ui.textEdit.append(f"Profile Exit X: {end_x:5.1f} mm")
+        self.ui.textEdit.append(f"Profile Exit Y: {end_y:5.1f} mm")
         self.ui.textEdit.append(f"   Overshoot X: {slip_comp_x:5.1f} mm")
         self.ui.textEdit.append(f"  Undershoot Y: {slip_comp_y:5.1f} mm")
         self.ui.textEdit.append(f"    Exit Speed: {self.path.trajectory.speed:5.0f} mm/s")
@@ -365,7 +365,7 @@ def plot_data(self):
         lot of that is just clearing the axes
         '''
         now = perf_counter()
-        axes = self.ui.mpl_widget.axes
+        axes = self.ui.pg_widget.axes
         title_style = {'color': 'cyan', 'size': '12px'}
         interval = self.path.trajectory.delta_t
         path_time = self.path.trajectory.time

path.py

@@ -164,7 +164,7 @@ def calculate(self, profile_type: ProfileType, params: TurnParameters, startx, s
         else:
             profile = Trapezoid()
         self.trajectory.set_profiler(profile)
-        params.speed = params.max_speed
+        # params.speed = params.max_speed
         self.trajectory.set_params(params)
         self.trajectory.set_start_xy(startx,starty)
         self.trajectory.calculate()
@@ -176,12 +176,12 @@ def calculate(self, profile_type: ProfileType, params: TurnParameters, startx, s
     def get_turn_acceleration(self, profile_type: ProfileType, params: TurnParameters):
         acc = 0
         if profile_type == ProfileType.TRAPEZOID:
-            acc = params.max_speed * params.max_speed / params.arc_radius
+            acc = params.speed * params.speed / params.arc_radius
         elif profile_type == ProfileType.QUADRATIC:
-            acc = params.max_speed * params.max_speed / params.arc_radius
+            acc = params.speed * params.speed / params.arc_radius
         elif profile_type == ProfileType.SINUSOID:
-            acc = params.max_speed * params.max_speed / params.arc_radius
+            acc = params.speed * params.speed / params.arc_radius
         elif profile_type == ProfileType.CUBIC:
-            acc = 6 * params.max_speed * params.max_speed * math.radians(params.angle) / 4 / params.cubic_length
+            acc = 6 * params.speed * params.speed * math.radians(params.angle) / 4 / params.cubic_length
 
         return acc

profiler.py

@@ -40,10 +40,10 @@ def __init__(self):
 
     def setup(self, params : TurnParameters):
         self.params = params
-        self.arc_omega = np.degrees(params.max_speed / params.arc_radius)
-        self.transition_angle = params.delta * self.arc_omega / (2.0 * params.max_speed)
+        self.arc_omega = np.degrees(params.speed / params.arc_radius)
+        self.transition_angle = params.delta * self.arc_omega / (2.0 * params.speed)
         self.arc_angle = params.angle - 2 * self.transition_angle
-        self.arc_length = params.max_speed * self.arc_angle / self.arc_omega
+        self.arc_length = params.speed * self.arc_angle / self.arc_omega
         self.length = 2 * params.delta + self.arc_length
 
     def get_omega(self,p,speed):
@@ -67,10 +67,10 @@ def __init__(self):
 
     def setup(self, params : TurnParameters):
         self.params = params
-        self.arc_omega = np.degrees(params.max_speed / params.radius)
-        self.transition_angle = params.delta * self.arc_omega / (3.0 * params.max_speed)
+        self.arc_omega = np.degrees(params.speed / params.radius)
+        self.transition_angle = params.delta * self.arc_omega / (3.0 * params.speed)
         self.arc_angle = params.angle - 2 * self.transition_angle
-        self.arc_length = params.max_speed * self.arc_angle / self.arc_omega
+        self.arc_length = params.speed * self.arc_angle / self.arc_omega
         self.length = 2 * params.delta + self.arc_length
 
     def get_omega(self,p,speed):
@@ -94,10 +94,10 @@ def __init__(self):
 
     def setup(self, params : TurnParameters):
         self.params = params
-        self.arc_omega = np.degrees(params.max_speed / params.radius)
-        self.transition_angle = params.delta * self.arc_omega / (np.pi * params.max_speed)
+        self.arc_omega = np.degrees(params.speed / params.radius)
+        self.transition_angle = params.delta * self.arc_omega / (np.pi * params.speed)
         self.arc_angle = params.angle - 2 * self.transition_angle
-        self.arc_length = params.max_speed * self.arc_angle / self.arc_omega
+        self.arc_length = params.speed * self.arc_angle / self.arc_omega
         self.length = 2 * params.delta + self.arc_length
 
     def get_omega(self,p,speed):
@@ -123,7 +123,7 @@ def __init__(self):
     def setup(self, params : TurnParameters):
         self.params = params
         radius = 4.0*params.delta/(np.pi*np.radians(params.angle))
-        self.arc_omega = np.degrees(params.max_speed / radius)
+        self.arc_omega = np.degrees(params.speed / radius)
         self.length = 2 * params.delta
 
 

profilers.py

@@ -105,7 +105,6 @@ def setup(self, params : TurnParameters):
         self.arc_angle = params.angle - 2 * self.transition_angle
         self.arc_length = self.params.speed * self.arc_angle / self.arc_omega
         self.length = 2 * params.delta + self.arc_length
-        print(self.arc_length)
 
     def get_omega(self,p):
         phase = 1

pyturnprofile.ui

@@ -284,7 +284,7 @@ p, li { white-space: pre-wrap; }
       </widget>
      </item>
      <item row="7" column="1">
-      <widget class="QSpinBox" name="slipSpinBox">
+      <widget class="QSpinBox" name="gripSpinBox">
        <property name="toolTip">
         <string extracomment="Slip angle constant (deg/g)"/>
        </property>
@@ -472,9 +472,9 @@ p, li { white-space: pre-wrap; }
       </spacer>
      </item>
      <item row="7" column="0">
-      <widget class="QLabel" name="lblSlip">
+      <widget class="QLabel" name="lblGrip">
        <property name="text">
-        <string>Slip</string>
+        <string>Grip</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -653,7 +653,7 @@ p, li { white-space: pre-wrap; }
      <string>Turn Summary</string>
     </property>
    </widget>
-   <widget class="PGWidget" name="mpl_widget" native="true">
+   <widget class="PGWidget" name="pg_widget" native="true">
     <property name="geometry">
      <rect>
       <x>10</x>

trajectory.py

@@ -6,7 +6,7 @@
 # File Created: Thursday, 5th January 2023 2:10:17 pm
 # Author: Peter Harrison 
 # -----
-# Last Modified: Saturday, 7th January 2023 11:05:43 pm
+# Last Modified: Sunday, 8th January 2023 3:24:48 pm
 # -----
 # Copyright 2022 - 2023 Peter Harrison, Micromouseonline
 # -----
@@ -160,8 +160,6 @@ def beta_dot(omega,beta, speed):
             b_dot = -(np.radians(omega) + self.k_grip * np.radians(beta) / speed)
             return np.degrees(b_dot)
 
-        self.theta_actual[0] = self.start_angle
-        # print(self.speed, self.k_grip, self.k_grip/self.speed)
         for i in range(len(self.time)):
             if i > 0:
                 omega = self.omega_ideal[i-1]
@@ -173,6 +171,7 @@ def beta_dot(omega,beta, speed):
 
         x = self.start_x
         y = self.start_y
+        self.theta_actual[0] = self.theta_ideal[0]
         for i,angle in enumerate(self.theta_actual):
             self.x_actual[i] = x
             self.y_actual[i] = y

ui_pyturnprofile.py

@@ -244,9 +244,9 @@ def setupUi(self, MainWindow):
         self.label = QtWidgets.QLabel(self.centralwidget)
         self.label.setGeometry(QtCore.QRect(10, 460, 131, 16))
         self.label.setObjectName("label")
-        self.mpl_widget = PGWidget(self.centralwidget)
-        self.mpl_widget.setGeometry(QtCore.QRect(10, 30, 401, 401))
-        self.mpl_widget.setObjectName("mpl_widget")
+        self.pg_widget = PGWidget(self.centralwidget)
+        self.pg_widget.setGeometry(QtCore.QRect(10, 30, 401, 401))
+        self.pg_widget.setObjectName("pg_widget")
         MainWindow.setCentralWidget(self.centralwidget)
 
         self.retranslateUi(MainWindow)